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                <div class=" wh_main_page_toc "><div class=" wh_main_page_toc_accordion_header "><span role="heading" aria-level="1" id="GUID-7BBD04D6-F959-4DB3-986C-62130FAEF07C-d1956e11-heading"><span role="button" aria-expanded="false" class="header-button" aria-controls="GUID-7BBD04D6-F959-4DB3-986C-62130FAEF07C-d1956e11-entries" tabindex="0"></span><span class="topicref"><a href="GUID-7BBD04D6-F959-4DB3-986C-62130FAEF07C.html" data-id="GUID-7BBD04D6-F959-4DB3-986C-62130FAEF07C"><ph xmlns="">1</ph>
Introduction</a></span></span></div><div class=" wh_main_page_toc_accordion_entries " id="GUID-7BBD04D6-F959-4DB3-986C-62130FAEF07C-d1956e11-entries" role="region" aria-labelledby="GUID-7BBD04D6-F959-4DB3-986C-62130FAEF07C-d1956e11-heading"><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="GUID-C1C929BC-0D12-40FB-B555-F28B23CB457E.html" data-id="GUID-C1C929BC-0D12-40FB-B555-F28B23CB457E"><ph xmlns="">1.1</ph>
Permanent Magnet Synchronous Motor</a></span></div><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="GUID-5CCF6974-52BB-4407-9796-20C86F178C71.html" data-id="GUID-5CCF6974-52BB-4407-9796-20C86F178C71"><ph xmlns="">1.2</ph>
Field Oriented Control</a></span></div></div><div class=" wh_main_page_toc_accordion_header "><span role="heading" aria-level="1" id="GUID-60DDB34A-7CBA-4DE1-814C-88D432196E35-d1956e52-heading"><span role="button" aria-expanded="false" class="header-button" aria-controls="GUID-60DDB34A-7CBA-4DE1-814C-88D432196E35-d1956e52-entries" tabindex="0"></span><span class="topicref"><a href="GUID-60DDB34A-7CBA-4DE1-814C-88D432196E35.html" data-id="GUID-60DDB34A-7CBA-4DE1-814C-88D432196E35"><ph xmlns="">2</ph>
Harmony QSpin - PMSM FOC</a></span></span></div><div class=" wh_main_page_toc_accordion_entries " id="GUID-60DDB34A-7CBA-4DE1-814C-88D432196E35-d1956e52-entries" role="region" aria-labelledby="GUID-60DDB34A-7CBA-4DE1-814C-88D432196E35-d1956e52-heading"><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="GUID-0E28D069-94DC-4B85-967B-CBF9A45BE525.html" data-id="GUID-0E28D069-94DC-4B85-967B-CBF9A45BE525"><ph xmlns="">2.1</ph>
Getting Started</a></span></div><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="GUID-35451F85-BBB3-4DF6-B3AC-00FB57657EFF.html" data-id="GUID-35451F85-BBB3-4DF6-B3AC-00FB57657EFF"><ph xmlns="">2.2</ph>
Harmony QSpin: PMSM FOC Modules</a></span></div><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="GUID-F8D4D059-6217-4066-BD8B-60DD5B0B9DF3.html" data-id="GUID-F8D4D059-6217-4066-BD8B-60DD5B0B9DF3"><ph xmlns="">2.3</ph>
Firmware Architecture</a></span></div></div><div class=" wh_main_page_toc_accordion_header "><span role="heading" aria-level="1" id="GUID-5D9A13C4-45FC-4744-B788-8853716E4AD8-d1956e279-heading"><span role="button" aria-expanded="false" class="header-button" aria-controls="GUID-5D9A13C4-45FC-4744-B788-8853716E4AD8-d1956e279-entries" tabindex="0"></span><span class="topicref"><a href="GUID-5D9A13C4-45FC-4744-B788-8853716E4AD8.html" data-id="GUID-5D9A13C4-45FC-4744-B788-8853716E4AD8"><ph xmlns="">3</ph>
Harmony QSpin API Reference</a></span></span></div><div class=" wh_main_page_toc_accordion_entries " id="GUID-5D9A13C4-45FC-4744-B788-8853716E4AD8-d1956e279-entries" role="region" aria-labelledby="GUID-5D9A13C4-45FC-4744-B788-8853716E4AD8-d1956e279-heading"><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="GUID-722DD900-7015-4646-B69F-20C19A60A801.html" data-id="GUID-722DD900-7015-4646-B69F-20C19A60A801"><ph xmlns="">3.1</ph>
Application API Reference</a></span></div><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="GUID-9305E76E-942D-44E6-9DD2-A6049ABE3323.html" data-id="GUID-9305E76E-942D-44E6-9DD2-A6049ABE3323"><ph xmlns="">3.2</ph>
Current Measurement API Reference</a></span></div><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="GUID-29D06553-EE7F-4EDC-92DF-17C19EE36334.html" data-id="GUID-29D06553-EE7F-4EDC-92DF-17C19EE36334"><ph xmlns="">3.3</ph>
Field Oriented Control API Reference</a></span></div><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="GUID-ADE7881E-AEEB-4EDC-B439-356982B16585.html" data-id="GUID-ADE7881E-AEEB-4EDC-B439-356982B16585"><ph xmlns="">3.4</ph>
Rotor Position Calculation API Reference</a></span></div><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="GUID-3E4B291B-E17C-47FD-B8B0-865F74C611ED.html" data-id="GUID-3E4B291B-E17C-47FD-B8B0-865F74C611ED"><ph xmlns="">3.5</ph>
Rotor Position Estimation API Reference</a></span></div><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="GUID-D3037FB0-D2D8-4DAD-8982-9C3653254BE9.html" data-id="GUID-D3037FB0-D2D8-4DAD-8982-9C3653254BE9"><ph xmlns="">3.6</ph>
IPD API Reference</a></span></div><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="GUID-B6A3C0CD-E527-48B2-A454-3F3CCE8AEAF4.html" data-id="GUID-B6A3C0CD-E527-48B2-A454-3F3CCE8AEAF4"><ph xmlns="">3.7</ph>
Voltage Measurement API Reference</a></span></div><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="GUID-C4F47DBF-B88F-4147-A7D9-D8C69DFCEC07.html" data-id="GUID-C4F47DBF-B88F-4147-A7D9-D8C69DFCEC07"><ph xmlns="">3.8</ph>
Hardware Abstraction API Reference</a></span></div><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="GUID-A09E5182-84A4-40CB-9732-FE12DAC559EC.html" data-id="GUID-A09E5182-84A4-40CB-9732-FE12DAC559EC"><ph xmlns="">3.9</ph>
Utilities API Reference</a></span></div><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="GUID-F3037440-0B95-4A3A-8BBC-61A03B757556.html" data-id="GUID-F3037440-0B95-4A3A-8BBC-61A03B757556"><ph xmlns="">3.10</ph>
Key Manager API Reference</a></span></div><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="GUID-0FF51D48-63EA-4B3D-BACD-E664DD303B6E.html" data-id="GUID-0FF51D48-63EA-4B3D-BACD-E664DD303B6E"><ph xmlns="">3.11</ph>
Typedefs And Constants API Reference</a></span></div></div><div class=" wh_main_page_toc_accordion_header "><span role="heading" aria-level="1" id="GUID-42876005-92C2-4CC0-81FC-71368462D294-d1956e2164-heading"><span role="button" aria-expanded="false" class="header-button" aria-controls="GUID-42876005-92C2-4CC0-81FC-71368462D294-d1956e2164-entries" tabindex="0"></span><span class="topicref"><a href="GUID-42876005-92C2-4CC0-81FC-71368462D294.html" data-id="GUID-42876005-92C2-4CC0-81FC-71368462D294"><ph xmlns="">4</ph>
Motor Control Development Kits and Boards</a></span></span></div><div class=" wh_main_page_toc_accordion_entries " id="GUID-42876005-92C2-4CC0-81FC-71368462D294-d1956e2164-entries" role="region" aria-labelledby="GUID-42876005-92C2-4CC0-81FC-71368462D294-d1956e2164-heading"><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="GUID-6545E6DB-3FC9-4A9C-8CE4-B3CC86712283.html" data-id="GUID-6545E6DB-3FC9-4A9C-8CE4-B3CC86712283"><ph xmlns="">4.1</ph>
Setting up Custom Board</a></span></div></div><div class=" wh_main_page_toc_accordion_header "><span role="heading" aria-level="1" id="GUID-CB69EAC9-E44C-42F1-8521-F40F4CE2BC62-d1956e2180-heading"><span role="button" aria-expanded="false" class="header-button" aria-controls="GUID-CB69EAC9-E44C-42F1-8521-F40F4CE2BC62-d1956e2180-entries" tabindex="0"></span><span class="topicref"><a href="GUID-CB69EAC9-E44C-42F1-8521-F40F4CE2BC62.html" data-id="GUID-CB69EAC9-E44C-42F1-8521-F40F4CE2BC62"><ph xmlns="">5</ph>
Motor Control Example Projects</a></span></span><div class=" wh_toc_shortdesc " class-path="- map/map  - map/topicref " format="dita" data-id="GUID-CB69EAC9-E44C-42F1-8521-F40F4CE2BC62" nr="5"></div></div><div class=" wh_main_page_toc_accordion_entries " id="GUID-CB69EAC9-E44C-42F1-8521-F40F4CE2BC62-d1956e2180-entries" role="region" aria-labelledby="GUID-CB69EAC9-E44C-42F1-8521-F40F4CE2BC62-d1956e2180-heading"><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="https://microchip-mplab-harmony.github.io/mc_apps_pic32cm_mc/" target="_blank"><ph xmlns="">5.1</ph>
PIC32CM MC Motor Control applications</a></span></div><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="https://microchip-mplab-harmony.github.io/mc_apps_sam_c2x/" target="_blank"><ph xmlns="">5.2</ph>
SAMC21 Motor Control applications</a></span></div><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="https://microchip-mplab-harmony.github.io/mc_apps_sam_d5x_e5x/" target="_blank"><ph xmlns="">5.3</ph>
SAME54 Motor Control applications</a></span></div><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="https://microchip-mplab-harmony.github.io/mc_apps_pic32mk/" target="_blank"><ph xmlns="">5.4</ph>
PIC32MK Motor Control applications</a></span></div><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="https://microchip-mplab-harmony.github.io/mc_apps_sam_e7x_s7x_v7x/" target="_blank"><ph xmlns="">5.5</ph>
SAME70 Motor Control applications</a></span></div><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="https://microchip-mplab-harmony.github.io/mc_apps_sam_rh707/" target="_blank"><ph xmlns="">5.6</ph>
SAMRH707 Motor Control applications</a></span></div><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="https://microchip-mplab-harmony.github.io/mc_apps_sam_rh71/" target="_blank"><ph xmlns="">5.7</ph>
SAMRH71 Motor Control applications</a></span></div></div><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="GUID-05FBE3B7-EA31-4FD0-BA88-715B91E2D508.html" data-id="GUID-05FBE3B7-EA31-4FD0-BA88-715B91E2D508"><ph xmlns="">6</ph>
Microchip MPLAB® Harmony 3 Release Notes</a></span></div><div class=" wh_main_page_toc_entry "><span class="topicref"><a href="GUID-5AE41BEF-D04E-41F6-AA77-5469CF13B183.html" data-id="GUID-5AE41BEF-D04E-41F6-AA77-5469CF13B183"><ph xmlns="">7</ph>
License</a></span></div><div class=" wh_main_page_toc_accordion_header "><span role="heading" aria-level="1" id="GUID-0FB3F908-88EE-45CE-94F5-E97AF9049C9B-d1956e2259-heading"><span role="button" aria-expanded="false" class="header-button" aria-controls="GUID-0FB3F908-88EE-45CE-94F5-E97AF9049C9B-d1956e2259-entries" tabindex="0"></span><span class="backmatter backmatter_parent"><a href="GUID-0FB3F908-88EE-45CE-94F5-E97AF9049C9B.html" data-id="GUID-0FB3F908-88EE-45CE-94F5-E97AF9049C9B">Microchip Information</a></span></span></div><div class=" wh_main_page_toc_accordion_entries " id="GUID-0FB3F908-88EE-45CE-94F5-E97AF9049C9B-d1956e2259-entries" role="region" aria-labelledby="GUID-0FB3F908-88EE-45CE-94F5-E97AF9049C9B-d1956e2259-heading"><div class=" wh_main_page_toc_entry "><span class="backmatter"><a href="GUID-21750586-F9F2-4E33-87FB-8F2994BF4744.html" data-id="GUID-21750586-F9F2-4E33-87FB-8F2994BF4744">Trademarks</a></span></div><div class=" wh_main_page_toc_entry "><span class="backmatter"><a href="GUID-125F1A93-76CC-4BD7-BACA-01844FBD5F4F.html" data-id="GUID-125F1A93-76CC-4BD7-BACA-01844FBD5F4F">Legal Notice</a></span></div><div class=" wh_main_page_toc_entry "><span class="backmatter"><a href="GUID-E8251634-7B15-4073-A103-5A5F128B8699.html" data-id="GUID-E8251634-7B15-4073-A103-5A5F128B8699">Microchip Devices Code Protection Feature</a></span></div></div></div>
                
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